Revision 42:0aaa3b282b6e, committed 2019-05-16

Comitter:

scherfa2

Date:

Thu May 16 20:10:32 2019 +0000

Parent:

41:1a2ba8849aa6

Commit message:

Update

Changed in this revision

--- a/Buttons.cpp	Wed May 15 00:47:19 2019 +0000
+++ b/Buttons.cpp	Thu May 16 20:10:32 2019 +0000
@@ -5,66 +5,6 @@
 extern DigitalIn Button2;
 
 
-/*
-extern volatile bool buttonSTART_pressed;  // Used in the main loop
-extern volatile bool buttonSTART_enabled;  // Used for debouncing
-extern Timeout buttonSTART_timeout;        // Used for debouncing
-
-extern volatile bool buttonAbbruch_pressed;  // Used in the main loop
-extern volatile bool buttonAbbruch_enabled;  // Used for debouncing
-extern Timeout buttonAbbruch_timeout;        // Used for debouncing
-
-*/
-
-/* --------------------------- START_BUTTON --------------------------------- 
-// Enables button when bouncing is over
-void buttonSTART_enabled_cb(void)
-{
-    buttonSTART_enabled = true;
-}
-void buttonSTART_diable_cb(void)
-{
-    buttonSTART_enabled = false;
-}
-
-// ISR handling button pressed event
-void buttonSTART_onpressed_cb(void)
-{
-    if (buttonSTART_enabled) { // Disabled while the button is bouncing
-        buttonSTART_enabled = false;
-        buttonSTART_pressed = true; // To be read by the main loop
-            
-        buttonSTART_timeout.attach(callback(buttonSTART_enabled_cb), 0.300); // Debounce time 300 ms
-    }
-}
-/* ---------------------------------- END ----------------------------------- */
-
-
-
-
-/* ------------------------- ABBRUCH_BUTTON --------------------------------- 
-// Enables button when bouncing is over
-void buttonAbbruch_enabled_cb(void)
-{
-    buttonAbbruch_enabled = true;
-}
-void buttonAbbruch_diable_cb(void)
-{
-    buttonAbbruch_enabled = false;
-}
-
-// ISR handling button pressed event
-void buttonAbbruch_onpressed_cb(void)
-{
-    if (buttonAbbruch_enabled) { // Disabled while the button is bouncing
-        buttonAbbruch_enabled = false;
-        buttonAbbruch_pressed = true; // To be read by the main loop
-            
-        buttonAbbruch_timeout.attach(callback(buttonAbbruch_enabled_cb), 0.300); // Debounce time 300 ms
-    }
-}
-*/
-
 bool get_Button_1()
 {
      if(Button1 == 1)

--- a/Display.cpp	Wed May 15 00:47:19 2019 +0000
+++ b/Display.cpp	Thu May 16 20:10:32 2019 +0000
@@ -48,20 +48,7 @@
     bit6=0;
     bit7=0;
     wait_ms(1); 
-    /*
-    PORTB= PORTB & 0b11111000;      // RW=0,E=0,RS=0    
-    _delay_ms(1);                   // delay>40ns tAS
-    PORTB= PORTB | 0b00000100;      // E=1, Rest wie bis anhin  
-    _delay_ms(1);                   // delay>460ns tpw
-    PORTA = Befehl;                 // Daten für Befehl
-    _delay_ms(1);                   // delay>80ns tsp2          
-    PORTB= PORTB & 0b11111011;      // E=0, Rest wie bis anhin
-    _delay_ms(1);                   // delay>10ns thd1 &(5ns thd2)
-    PORTB= PORTB & 0b11111100;      // RW=0,RS=0
-    PORTA= 0;                       // Port A löschen (gesendete Daten)
-    _delay_ms(1);                   // alle delays ab E=1 >500ns tc
-    
-    */
+
 }
 /**************************************************************
 Sende-Zeichen-Funktion für das Display Midas
@@ -98,21 +85,7 @@
     bit6=0;
     bit7=0;
     wait_ms(1);
-    
-    
-    /*PORTB= PORTB & 0b11111000;      // RW=0,E=0,RS=0
-    PORTB= PORTB | 0b00000001;      // RS=1
-    _delay_ms(1);                   // delay>40ns tsp1
-    PORTB= PORTB | 0b00000100;      // E=1, Rest wie bis anhin
-    _delay_ms(1);                   // delay>230ns tpw
-    PORTA = Zeichen;                // Daten für Zeichen
-    _delay_ms(1);                   // delay>80ns tsp2      
-    PORTB= PORTB & 0b11111011;      // E=0, Rest wie bis anhin
-    _delay_ms(1);                   // delay>10ns thd1 &(5ns thd2)
-    PORTB= PORTB & 0b11111100;      // RW=0,RS=0    
-    PORTA= 0;                       // Port A löschen (gesendete Daten)                 
-    _delay_ms(1);                   // alle delays ab E=1 >500ns tc*/
-    
+     
 }
 
 /**************************************************************
@@ -145,23 +118,7 @@
     wait_ms(1);
     DisplaySendeBefehl(0b00000001);
     wait_ms(3);
-    DisplaySendeBefehl(0b00000110);
-     
-    
-         
-       
-        
-
-    /*_delay_ms(20);                     // delay>15ms
-    DisplaySendeBefehl(0b00110000);     // Instruktion
-    _delay_ms(5);                       // delay>4.1ms  
-    DisplaySendeBefehl(0b00110000);     // Instruktion
-    _delay_ms(5);                       // delay>100us 
-    DisplaySendeBefehl(0b00110000);     // Instruktion
-    DisplaySendeBefehl(0b00111100);     // 8bit-,2line-,5x11dots mode
-    DisplaySendeBefehl(0b00001000);     // Display off
-    DisplaySendeBefehl(0b00000001);     // Display clear
-    DisplaySendeBefehl(0b00000110);     // Entry mode set*/
+    DisplaySendeBefehl(0b00000110);        
 }
 
 /**************************************************************

--- a/SETUP.h	Wed May 15 00:47:19 2019 +0000
+++ b/SETUP.h	Thu May 16 20:10:32 2019 +0000
@@ -89,6 +89,7 @@
     // Kommunikation_Filamentmessung
     #define CUT_SIGNAL      PB_2
     #define COM_SIGNAL      PB_12
+    #define FERTIG_SIGNAL   PC_11
     // PC11 Reserve!!!!
 
     // Kommunikation Aufrollen
@@ -103,8 +104,8 @@
 
     // Weiche
     #define SERVO_FR              240 // [Hz]
-    #define GOOD_FIL             25.5 // [°] (max 90)
-    #define BAD_FIL                55 // [°] (min 0)
+    #define GOOD_FIL             31.5 // [°] (max 90)
+    #define BAD_FIL                61 // [°] (min 0)
     
     // Cutter
     #define CUTTER_FRQ_1        20000 // [Hz]
@@ -123,7 +124,8 @@
     #define FILACC                800
     #define COOLINGTIME             5 // [s]
     
-    
+    // DUO-Betrieb
+    #define LAENGE_LS3_To_STEPPER2  2
 
     // SOLO-Betrieb
     #define WARTEZEIT              60 // [s]

--- a/ST_DUO.cpp	Wed May 15 00:47:19 2019 +0000
+++ b/ST_DUO.cpp	Thu May 16 20:10:32 2019 +0000
@@ -6,8 +6,14 @@
 
 extern DigitalIn InputKontrollmodul;
 extern DigitalIn CutSignal;
+extern DigitalIn FertigSignal;
 int val_CutSignal = 0;
+int val_FertigSignal = 0;
 
+int Stepper1CurrentPos = 0;
+int Stepper1MarkPos = 0;
+
+bool Fertig = false;
 
 bool Fila_Good = false;
 
@@ -55,7 +61,27 @@
      else return false;
 }
 
-
+bool get_FertigSignal()
+{     
+    val_FertigSignal = FertigSignal.read();
+     if( val_FertigSignal == 1)
+     {
+         wait(0.01);
+         if(val_FertigSignal == 1)
+         {
+             return true;
+         }   
+     }
+     else if(val_FertigSignal == 0)
+     {
+         wait(0.01);
+         if(val_FertigSignal == 0)
+         {
+             return false;
+         } 
+     }
+     else return false;
+}
 
 void EntryDuoDefault()
 {
@@ -67,7 +93,10 @@
     Stepper_1_Leerlauf();
     Stepper_2_Leerlauf();
     Stepper_3_Leerlauf();
-    Set_Servo_Bad_Fil();
+    if(LS_1 == 1)
+    {
+        Set_Servo_Bad_Fil();
+    }
     
     DisplaySendeBefehl(0x0C);
     DisplaySendeBefehl(0x01);
@@ -87,10 +116,10 @@
 {   
     DisplaySendeBefehl(0x01);
     gotoxy(1,1);
-    DisplaySendeString("Filament einlgenen");
+    DisplaySendeString("Filament einlegen...");
     gotoxy(1,4);
     DisplaySendeString("             Abbruch");
-    
+    Set_Servo_Bad_Fil();
     Stepper_1_Run('V', 300);
     
     StatusDUO=DUO_EINLEGEN;
@@ -147,25 +176,25 @@
     Stepper_1_SetPara(100, 100);
  
     Set_Cutter(500, 0, 1);
-    motors2[0]->move(StepperMotor::FWD, 128*400*5);
+    motors2[0]->move(StepperMotor::FWD, 128*400*4);
     motors[0]->move(StepperMotor::BWD, 128*400*0.3);
     Set_Cutter(600, 0, 1);
     
     motors2[0]->wait_while_active();
     motors[0]->move(StepperMotor::FWD, 128*400*0.3);
     motors[0]->wait_while_active();
-    
-    wait(10);
+    Stepper_3_Leerlauf();
+   // wait(10);
     Set_Servo_Good_Fil();
     Stepper_1_SetHome();
-    Stepper_1_Run('V', 150);
+    Stepper_1_Run('V', 300);
    
     
     DisplaySendeBefehl(0x01);
     gotoxy(1,1);
-    DisplaySendeString("Filament ist gut    ");
+    DisplaySendeString("Filament ist gut.   ");
     gotoxy(1,3);
-    DisplaySendeString("wird gefoerdert...  ");
+    DisplaySendeString("Wird gefoerdert...  ");
     gotoxy(1,4);
     DisplaySendeString("             Abbruch"); 
     
@@ -173,21 +202,506 @@
 }
 
 void EntryDuoFilaBad1()
-{
+{   
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Schlechtes Filament ");
+    gotoxy(1,3);
+    DisplaySendeString("erkannt.            ");
+    gotoxy(1,2);
+    DisplaySendeString("Wird aussortiert... ");
+    gotoxy(1,4);
+    DisplaySendeString("             Abbruch"); 
+    
     Stepper_1_SetPara(TRAVELSPEED+100, TRAVELACC+300);
     Stepper_1_GoHome();
-   // Set_Servo_Bad_Fil();
-   //Stepper_1_Run('V', 150);
+    Set_Servo_Bad_Fil();
+    Stepper_1_Run('V', 300);
+   
+    StatusDUO=DUO_FILA_BAD1;
+}
+
+void EntryDuoFilaGood2()
+{
+    Stepper_1_Stop();
+    Stepper_1_MarkPos();
+    Stepper_1_SetPara(300, 300);
+    motors[0]->move(StepperMotor::FWD, 128*400*10);
+    
+    StatusDUO=DUO_FILA_GOOD2;
+}
+
+void EntryDuoFilaGood3()
+{
+    Stepper_1_Leerlauf();
+    Stepper_2_SetPara(300, 300);
+    Stepper_2_Run('V', 300);
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Filament ist gut.   ");
+    gotoxy(1,3);
+    DisplaySendeString("Wird gefoerdert...  ");
+    gotoxy(1,4);
+    DisplaySendeString("             Abbruch");
+    
+    StatusDUO=DUO_FILA_GOOD3;
+}
+
+void EntryDuoFilaCut2()
+{
+    Stepper_2_Stop();
+    Stepper_1_Stop();
+    
+    /*********************************
+    
+            CUT PROZESS 
+    
+    **********************************/
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Schlechtes Filament ");
+    gotoxy(1,3);
+    DisplaySendeString("erkannt.            ");
+    gotoxy(1,2);
+    DisplaySendeString("Wird geschnitten!   ");
+    
+    Stepper_2_SetPara(100, 100);
+    Stepper_1_SetPara(100, 100);
+ 
+    Set_Cutter(500, 0, 1);
+    motors[1]->move(StepperMotor::FWD, 128*400*4);
+    motors[0]->move(StepperMotor::BWD, 128*400*0.3);
+    Set_Cutter(600, 0, 1);
+    
+    motors[1]->wait_while_active();
+    motors[0]->move(StepperMotor::FWD, 128*400*0.3);
+    motors[0]->wait_while_active();
+    
+   // wait(10);
+    Set_Servo_Good_Fil();
+    Stepper_1_SetHome();
+    Stepper_2_SetPara(400, 300);
+   // motors[1]->move(StepperMotor::FWD, 128*400*);
+   // motors[1]->wait_while_active();
+    Stepper_2_Run('V', 150);
    
-   StatusDUO=DUO_FILA_BAD1;
+    
+    StatusDUO=DUO_FILA_CUT2;    
+}
+
+void EntryDuoFilaAusschuss()
+{
+    Stepper_2_Stop();
+    Set_Servo_Bad_Fil();
+    Stepper_3_Leerlauf();
+    Stepper_1_Run('V', 300);
+              
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Schlechtes Filament ");
+    gotoxy(1,3);
+    DisplaySendeString("                    ");
+    gotoxy(1,2);
+    DisplaySendeString("Wird aussortiert... ");
+    gotoxy(1,4);
+    DisplaySendeString("             Abbruch");  
+    
+    StatusDUO=DUO_FILA_AUSSCHUSS;    
+}
+void EntryFilaCut31()
+{
+    /*********************************
+    
+            CUT PROZESS 
+    
+    **********************************/
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Filament wird  ge-");
+    gotoxy(1,3);
+    DisplaySendeString("schnitten");
+    
+    Stepper_1_Stop();
+    Stepper_3_Leerlauf();
+
+    Stepper_3_SetPara(100, 100);
+    Stepper_1_SetPara(100, 100);
+ 
+    Set_Cutter(500, 0, 1);
+    motors2[0]->move(StepperMotor::FWD, 128*400*4);
+    motors[0]->move(StepperMotor::BWD, 128*400*0.3);
+    Set_Cutter(600, 0, 1);
+    
+    motors2[0]->wait_while_active();
+    motors[0]->move(StepperMotor::FWD, 128*400*0.3);
+    motors[0]->wait_while_active();
+    Stepper_3_Leerlauf();
+   // wait(10);
+    Set_Servo_Good_Fil();
+    Stepper_1_SetHome();
+    Stepper_1_Run('V', 300);
+   
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Filament ist gut.   ");
+    gotoxy(1,3);
+    DisplaySendeString("Wird gefoerdert...  ");
+    gotoxy(1,4);
+    DisplaySendeString("             Abbruch"); 
+    
+    StatusDUO=DUO_FILA_CUT3_1;
+}
+
+void EntryDuoFilaCut32()
+{
+    Stepper_1_SetHome();
+    
+    StatusDUO=DUO_FILA_CUT3_2;
+}
+
+void EntryDuoSpleissenVorbeGood()
+{
+    Stepper_1_SetPara(PRECISIONSPEED, PRECISIONACC);
+    Stepper_1_Run('V', 40);
+    
+    StatusDUO = DUO_SPLEISSEN_VORBE_GOOD;
+}
+
+void EntryDuoSpleissenGood()
+{
+    Stepper_1_Stop();
+    
+    DisplaySendeBefehl(0x01);
+    DisplaySendeBefehl(0x0C);
+    gotoxy(1, 1);
+    DisplaySendeString("ACHTUNG:");
+    gotoxy(1, 2);
+    DisplaySendeString("SPLEISSENUNG!!!");
+   
+    Stepper_2_MarkPos();
+    
+   // Stepper_1_SetPara(PRECISIONSPEED, PRECISIONACC);
+   // Stepper_1_Move('V', 0.11*400);
+    
+    Stepper_1_SetPara(PRECISIONSPEED, PRECISIONACC);
+    Stepper_2_SetPara(PRECISIONSPEED, PRECISIONACC);
+    
+    motors[0]->move(StepperMotor::BWD, 128*400*0.25);
+    motors[1]->move(StepperMotor::BWD, 128*400*0.26);
+
+    Set_Spleisser(ARConTIME, ARCoffTIME, REPETITONS);
+    
+    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
+    
+    motors[0]->move(StepperMotor::FWD, 128*400*0.13);
+    motors[1]->move(StepperMotor::FWD, 128*400*0.14);
+    
+    Set_Spleisser(ARConTIME, ARCoffTIME, REPETITONS+2);
+    
+    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
+    
+    
+    Stepper_1_SetPara(FILSPEED, FILACC);
+    Stepper_2_SetPara(FILSPEED, FILACC);
+
+    motors[0]->move(StepperMotor::BWD, 0.55*400*128);
+    Thread::wait(10);
+    Stepper_2_Move('R', 0.65*400);
+    
+    DisplaySendeBefehl(0x01);
+    DisplaySendeBefehl(0x0C);
+    gotoxy(1, 1);
+    DisplaySendeString("Filament wird");
+    gotoxy(1, 2);
+    DisplaySendeString("abgekuehlt");
+
+    Thread::wait(COOLINGTIME*1000);
+    
+    Stepper_1_SetPara(TRAVELSPEED+200, SLOWACC);
+    Stepper_2_SetPara(TRAVELSPEED+200, SLOWACC);
+    
+    motors[0]->move(StepperMotor::FWD, 128*400*0.8);
+    motors[1]->move(StepperMotor::FWD, 128*400*0.8);
+    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
+    
+    Stepper_1_Leerlauf(); 
+    
+    Stepper_2_GoMark();
+    
+    StatusDUO = DUO_SPLEISSEN_GOOD;
+}
+
+void EntryDuoSpleissenVorbeBad()
+{
+    Stepper_1_SetPara(PRECISIONSPEED, PRECISIONACC);
+    Stepper_1_Run('V', 40);
+    
+    StatusDUO = DUO_SPLEISSEN_VORBE_BAD;
 }
 
+void EntryDuoSpleissenBad()
+{
+    Stepper_1_Stop();
+    
+    DisplaySendeBefehl(0x01);
+    DisplaySendeBefehl(0x0C);
+    gotoxy(1, 1);
+    DisplaySendeString("ACHTUNG:");
+    gotoxy(1, 2);
+    DisplaySendeString("SPLEISSENUNG!!!");
+    
+    Stepper_2_MarkPos();
+    
+   // Stepper_1_SetPara(PRECISIONSPEED, PRECISIONACC);
+   // Stepper_1_Move('V', 0.11*400);
+    
+    Stepper_1_SetPara(PRECISIONSPEED, PRECISIONACC);
+    Stepper_2_SetPara(PRECISIONSPEED, PRECISIONACC);
+    
+    motors[0]->move(StepperMotor::BWD, 128*400*0.25);
+    motors[1]->move(StepperMotor::BWD, 128*400*0.26);
+
+    Set_Spleisser(ARConTIME, ARCoffTIME, REPETITONS);
+    
+    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
+    
+    motors[0]->move(StepperMotor::FWD, 128*400*0.13);
+    motors[1]->move(StepperMotor::FWD, 128*400*0.14);
+    
+    Set_Spleisser(ARConTIME, ARCoffTIME, REPETITONS+2);
+    
+    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
+    
+    
+    Stepper_1_SetPara(FILSPEED, FILACC);
+    Stepper_2_SetPara(FILSPEED, FILACC);
+
+    motors[0]->move(StepperMotor::BWD, 0.55*400*128);
+    Thread::wait(10);
+    Stepper_2_Move('R', 0.65*400);
+    
+    DisplaySendeBefehl(0x01);
+    DisplaySendeBefehl(0x0C);
+    gotoxy(1, 1);
+    DisplaySendeString("Filament wird");
+    gotoxy(1, 2);
+    DisplaySendeString("abgekuehlt");
+
+    Thread::wait(COOLINGTIME*1000);
+    
+    Stepper_1_SetPara(TRAVELSPEED+200, SLOWACC);
+    Stepper_2_SetPara(TRAVELSPEED+200, SLOWACC);
+    
+    motors[0]->move(StepperMotor::FWD, 128*400*0.8);
+    motors[1]->move(StepperMotor::FWD, 128*400*0.8);
+    motors[0]->wait_while_active();
+    motors[1]->wait_while_active();
+    
+    Stepper_1_Leerlauf(); 
+    
+    Stepper_2_GoMark();
+       
+    StatusDUO = DUO_SPLEISSEN_BAD;
+}
+
+void EntryDuoSpleissenVorbeBad2()
+{
+    Stepper_1_SetHome();
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Schlechtes Filament ");
+    gotoxy(1,3);
+    DisplaySendeString("erkannt.            ");
+    gotoxy(1,2);
+    DisplaySendeString("Zu erst Spleissen.  ");
+    gotoxy(1,4);
+    DisplaySendeString("             Abbruch");
+    
+    StatusDUO = DUO_SPLEISSEN_VORBE_BAD;
+}
+
+void EntryDuoBad2()
+{
+    Stepper_1_SetPara(100, 100);
+    Stepper_2_Leerlauf();
+    Stepper_1_GoHome();
+    Stepper_1_Stop();
+    Stepper_2_Stop();
+    
+    /*********************************
+    
+            CUT PROZESS 
+    
+    **********************************/
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Filament wird  ge-");
+    gotoxy(1,3);
+    DisplaySendeString("schnitten");
+    
+    Stepper_2_SetPara(100, 100);
+    Stepper_1_SetPara(100, 100);
+ 
+    Set_Cutter(500, 0, 1);
+    motors[1]->move(StepperMotor::FWD, 128*400*4);
+    motors[0]->move(StepperMotor::BWD, 128*400*0.3);
+    Set_Cutter(600, 0, 1);
+    
+    motors[1]->wait_while_active();
+    motors[0]->move(StepperMotor::FWD, 128*400*0.3);
+    motors[0]->wait_while_active();
+    
+   // wait(10);
+    Set_Servo_Good_Fil();
+    Stepper_1_SetHome();
+    Stepper_2_SetPara(400, 300);
+    motors[1]->move(StepperMotor::FWD, 128*400*4);
+    motors[1]->wait_while_active();
+    Stepper_2_Run('V', 150);    
+    
+    StatusDUO = DUO_FILA_BAD2;
+}
+
+void EntryDuoFilaCut22()
+{
+    StatusDUO = DUO_FILA_CUT2;
+}
+
+void EntryDuoFertigBad()
+{
+    Stepper_1_Stop();
+    
+    Stepper_1_SetPara(40, 100);
+    Stepper_2_SetPara(300, 300);
+    motors[0]->move(StepperMotor::FWD, 128*400*0.1);
+    motors[0]->wait_while_active();
+    motors[1]->move(StepperMotor::FWD, 128*400*2);
+    motors[1]->wait_while_active();
+    
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Filament ist fertig.");
+    gotoxy(1,2);
+    DisplaySendeString("Bitte Messmodul ent-");
+    gotoxy(1,4);
+    DisplaySendeString("fernen fuer Auswurf ");
+    
+    while(InputKontrollmodul == 1){}
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("ACHTUNG!");
+    gotoxy(1,3);
+    DisplaySendeString("Nur Auswurf druecken");
+    gotoxy(1,2);
+    DisplaySendeString("ohne Messmodul!     ");
+    gotoxy(1,4);
+    DisplaySendeString("             Auswurf");
+    
+    while(ButtonABBRUCH==false)
+    {
+        ButtonABBRUCH = get_Button_2();
+    }
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Filament wegziehen, ");
+    gotoxy(1,3);
+    DisplaySendeString("wenn Schrittmotoren ");
+    gotoxy(1,2);
+    DisplaySendeString("nicht mehr greiffen.");
+    
+    Stepper_1_SetPara(300, 300);
+    Stepper_2_SetPara(300, 300);
+    motors[1]->move(StepperMotor::FWD, 128*400*2);
+    motors[1]->wait_while_active();
+    
+    Stepper_1_Run('R', 300); 
+    
+    while(LS_1 == 0){}
+    
+    Stepper_2_Leerlauf();
+    
+    StatusDUO = DUO_FERTIG_BAD;
+    
+}
+
+void EntryDuoFertigGood()
+{
+    Stepper_1_Stop();
+    Stepper_1_SetPara(300, 300);
+    Stepper_2_SetPara(300, 300);
+    Stepper_2_Leerlauf();
+    Stepper_2_Run('V', 300);
+    Stepper_1_Run('V', 300);
+    while(LS_1 == 0)
+    {
+         
+    }
+    Stepper_2_Leerlauf();
+    Stepper_1_Stop();
+    Stepper_1_SetPara(40, 100);
+    
+    motors[0]->move(StepperMotor::FWD, 128*400*0.1);
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Filament ist fertig.");
+    gotoxy(1,2);
+    DisplaySendeString("Bitte Messmodul ent-");
+    gotoxy(1,4);
+    DisplaySendeString("fernen fuer Auswurf ");
+
+    while(InputKontrollmodul == 1){}
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("ACHTUNG!");
+    gotoxy(1,3);
+    DisplaySendeString("Nur Auswurf druecken");
+    gotoxy(1,2);
+    DisplaySendeString("ohne Messmodul!     ");
+    gotoxy(1,4);
+    DisplaySendeString("             Auswurf");
+    
+    while(ButtonABBRUCH==false)
+    {
+        ButtonABBRUCH = get_Button_2();
+    }
+    
+    DisplaySendeBefehl(0x01);
+    gotoxy(1,1);
+    DisplaySendeString("Filament wegziehen, ");
+    gotoxy(1,3);
+    DisplaySendeString("wenn Schrittmotoren ");
+    gotoxy(1,2);
+    DisplaySendeString("nicht mehr greiffen.");
+    
+    Stepper_1_SetPara(300, 300);
+    
+    Stepper_1_Run('R', 300); 
+    
+    while(LS_1 == 0){}
+    
+    
+    StatusDUO = DUO_FERTIG_GOOD;    
+}
 
 void EntryDUO()
 {
     ButtonSTART = get_Button_1();
     ButtonABBRUCH = get_Button_2();
     Fila_Good = get_InputKontrollmodul();
+    Fertig = get_FertigSignal();
     
     switch(StatusDUO)
     {     
@@ -212,7 +726,7 @@
        break;
        
        case DUO_EINLEGEN:
-       if(Fila_Good == false)        //für Test->==false wenn gedrückt(heisst Filament ist gut)
+       if(Fila_Good == true)        //für Test->==false wenn gedrückt(heisst Filament ist gut)
         {
             EntryDuoFilaCut1();     
         }
@@ -226,14 +740,14 @@
        break;
        
        case DUO_FILA_CUT1:
-       if(Fila_Good == true)        //für Test->==true wenn gedrückt(heisst Filament ist schlecht) 
+       if(Fila_Good == false)        //für Test->==true wenn nicht gedrückt(heisst Filament ist schlecht) 
         {
             EntryDuoFilaBad1();
         }
        else if(LS_3 == 0)
         {
-            EntryDuoDefault();// nur für test
-            //EntryFilaGood2();  
+           // EntryDuoDefault();// nur für test
+            EntryDuoFilaGood2();  
         }
        else if(ButtonABBRUCH == true)
         {
@@ -243,9 +757,9 @@
        break;
        
        case DUO_FILA_BAD1:
-       if(Fila_Good == false)       //für Test->==false wenn gedrückt(heisst Filament ist gut)
+       if(Fila_Good == true)       //für Test->==false wenn gedrückt(heisst Filament ist gut)
         {
-               
+            EntryDuoFilaCut1();
         }
        else if(ButtonABBRUCH == true)
         {
@@ -256,39 +770,159 @@
        break;
        
        case DUO_FILA_GOOD2:
+        Stepper1CurrentPos = Stepper_1_GetPosition();
+        Stepper1MarkPos = Stepper_1_GetMark();
+        if(Stepper1CurrentPos > ((Stepper1MarkPos+(128*400*LAENGE_LS3_To_STEPPER2))-100))
+        {
+            EntryDuoFilaGood3();
+        }
+        else if(Fila_Good == false)  //für Test->==true wenn nicht gedrückt(heisst Filament ist schlecht)
+        {
+            EntryDuoFilaBad1();
+        }
+        else if(ButtonABBRUCH == true)
+        {
+            ButtonABBRUCH=false;
+            EntryDuoDefault();
+        } 
        break;
        
        case DUO_FILA_GOOD3:
-       break;
+       if(Fila_Good == false)  //für Test->==true wenn nicht gedrückt(heisst Filament ist schlecht)
+        {
+            EntryDuoFilaCut2();
+        }
+        else if(ButtonABBRUCH == true)
+        {
+            ButtonABBRUCH=false;
+            EntryDuoDefault();
+        }
+       break; 
        
        case DUO_FILA_CUT2:
+       if((LS_3 == 1) && (LS_2 == 1))
+        {
+               EntryDuoFilaAusschuss();
+        }
+        else if(ButtonABBRUCH == true)
+        {
+            ButtonABBRUCH=false;
+            EntryDuoDefault();
+        }
        break;
        
        case DUO_FILA_AUSSCHUSS:
+       if(LS_1 == 1)
+        {
+            EntryDuoFertigBad();
+        }
+       
+        else if(Fila_Good == true)        //für Test->==false wenn gedrückt(heisst Filament ist gut)
+        {
+            EntryFilaCut31();     
+        }
+        else if(ButtonABBRUCH == true)
+        {
+            ButtonABBRUCH=false;
+            EntryDuoDefault();
+        }
        break;
        
        case DUO_FILA_CUT3_1:
+       if((Fila_Good == false)&&(Fertig == true)) //für Test->==true wenn nicht gedrückt(heisst Filament ist schlecht)
+        {
+            EntryDuoFertigGood();
+        }
+        else if(Fila_Good == false)  //für Test->==true wenn nicht gedrückt(heisst Filament ist schlecht)
+        {
+            EntryDuoFilaCut32();
+        }
+        else if(LS_2 == 0)
+        {
+            EntryDuoSpleissenVorbeGood();
+        }
+        else if(ButtonABBRUCH == true)
+        {
+            ButtonABBRUCH=false;
+            EntryDuoDefault();
+        }
+        
        break;
        
        case DUO_FILA_CUT3_2:
+       if(Fertig == true)
+        {
+            EntryDuoFertigGood();
+        }
+        else if(LS_2 == 0)
+        {
+            EntryDuoSpleissenVorbeBad();
+        }
+       else if(ButtonABBRUCH == true)
+        {
+            ButtonABBRUCH=false;
+            EntryDuoDefault();
+        }
        break;
        
        case DUO_SPLEISSEN_VORBE_BAD:
+       if(Fertig == true)
+        {
+            EntryDuoFertigGood();
+        }
+         if(LS_3 == 0)
+        {
+            EntryDuoSpleissenBad();
+        }
+        else if(ButtonABBRUCH == true)
+        {
+            ButtonABBRUCH=false;
+            EntryDuoDefault();
+        }
        break;
        
        case DUO_SPLEISSEN_BAD:
+       
+        EntryDuoBad2();
        break;
        
        case DUO_SPLEISSEN_VORBE_GOOD:
+       if(Fertig == true)
+        {
+            EntryDuoFertigGood();
+        }
+         if(Fila_Good == false)  //für Test->==true wenn gedrückt(heisst Filament ist schlecht)
+        {
+            EntryDuoSpleissenVorbeBad2();
+        }
+        else if(LS_3 == 0)
+        {
+            EntryDuoSpleissenGood();
+        }
+        else if(ButtonABBRUCH == true)
+        {
+            ButtonABBRUCH=false;
+            EntryDuoDefault();
+        }
        break;
        
+       
        case DUO_SPLEISSEN_GOOD:
+       
+        EntryDuoFilaGood3();
        break;
        
        case DUO_FILA_BAD2:
+        
+        EntryDuoFilaCut22();
        break;
        
        case DUO_FERTIG_BAD:
+        EntryDuoDefault();
+       break;
+       
+       case DUO_FERTIG_GOOD:
+        EntryDuoDefault();
        break;
              
     }   

--- a/ST_DUO.h	Wed May 15 00:47:19 2019 +0000
+++ b/ST_DUO.h	Thu May 16 20:10:32 2019 +0000
@@ -19,7 +19,8 @@
     DUO_SPLEISSEN_VORBE_GOOD,
     DUO_SPLEISSEN_GOOD,
     DUO_FILA_BAD2,
-    DUO_FERTIG_BAD
+    DUO_FERTIG_BAD,
+    DUO_FERTIG_GOOD
 };
 
 void EntryDUO();

--- a/ST_SOLO.h	Wed May 15 00:47:19 2019 +0000
+++ b/ST_SOLO.h	Thu May 16 20:10:32 2019 +0000
@@ -15,5 +15,6 @@
 };
 
 void EntrySOLO();
+void Fkt_SOLO_Spleissen();
 
 #endif

--- a/main.cpp	Wed May 15 00:47:19 2019 +0000
+++ b/main.cpp	Thu May 16 20:10:32 2019 +0000
@@ -52,6 +52,9 @@
 int val_InputKontrollmodul = 0;
 
 DigitalIn CutSignal(CUT_SIGNAL);
+DigitalIn FertigSignal(FERTIG_SIGNAL);
+
+
 /* Motor Control Expansion Board. */
 XNucleoIHM02A1 *x_nucleo_ihm02a1_1;
 XNucleoIHM02A12 *x_nucleo_ihm02a1_2;